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AP_GPS: handle failure to allocation of GPS CAN message subscribers

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bugobliterator 2021-09-01 09:50:06 +05:30 committed by Peter Barker
parent 0de393bf7f
commit f3fef657f9
1 changed files with 23 additions and 7 deletions
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30
libraries/AP_GPS/AP_GPS_UAVCAN.cpp
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@ -37,6 +37,8 @@
#include <ardupilot/gnss/RelPosHeading.hpp>
#endif
#include <AP_BoardConfig/AP_BoardConfig.h>
extern const AP_HAL::HAL& hal;
#define GPS_UAVCAN_DEBUGGING 0
@ -103,59 +105,73 @@ void AP_GPS_UAVCAN::subscribe_msgs(AP_UAVCAN* ap_uavcan)
uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCb> *gnss_fix;
gnss_fix = new uavcan::Subscriber<uavcan::equipment::gnss::Fix, FixCb>(*node);
if (gnss_fix == nullptr) {
AP_BoardConfig::allocation_error("gnss_fix");
}
const int gnss_fix_start_res = gnss_fix->start(FixCb(ap_uavcan, &handle_fix_msg_trampoline));
if (gnss_fix_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb> *gnss_fix2;
gnss_fix2 = new uavcan::Subscriber<uavcan::equipment::gnss::Fix2, Fix2Cb>(*node);
if (gnss_fix2 == nullptr) {
AP_BoardConfig::allocation_error("gnss_fix2");
}
const int gnss_fix2_start_res = gnss_fix2->start(Fix2Cb(ap_uavcan, &handle_fix2_msg_trampoline));
if (gnss_fix2_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxCb> *gnss_aux;
gnss_aux = new uavcan::Subscriber<uavcan::equipment::gnss::Auxiliary, AuxCb>(*node);
if (gnss_aux == nullptr) {
AP_BoardConfig::allocation_error("gnss_aux");
}
const int gnss_aux_start_res = gnss_aux->start(AuxCb(ap_uavcan, &handle_aux_msg_trampoline));
if (gnss_aux_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<ardupilot::gnss::Heading, HeadingCb> *gnss_heading;
gnss_heading = new uavcan::Subscriber<ardupilot::gnss::Heading, HeadingCb>(*node);
if (gnss_heading == nullptr) {
AP_BoardConfig::allocation_error("gnss_heading");
}
const int gnss_heading_start_res = gnss_heading->start(HeadingCb(ap_uavcan, &handle_heading_msg_trampoline));
if (gnss_heading_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<ardupilot::gnss::Status, StatusCb> *gnss_status;
gnss_status = new uavcan::Subscriber<ardupilot::gnss::Status, StatusCb>(*node);
if (gnss_status == nullptr) {
AP_BoardConfig::allocation_error("gnss_status");
}
const int gnss_status_start_res = gnss_status->start(StatusCb(ap_uavcan, &handle_status_msg_trampoline));
if (gnss_status_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
#if GPS_MOVING_BASELINE
uavcan::Subscriber<ardupilot::gnss::MovingBaselineData, MovingBaselineDataCb> *gnss_moving_baseline;
gnss_moving_baseline = new uavcan::Subscriber<ardupilot::gnss::MovingBaselineData, MovingBaselineDataCb>(*node);
if (gnss_moving_baseline == nullptr) {
AP_BoardConfig::allocation_error("gnss_moving_baseline");
}
const int gnss_moving_baseline_start_res = gnss_moving_baseline->start(MovingBaselineDataCb(ap_uavcan, &handle_moving_baseline_msg_trampoline));
if (gnss_moving_baseline_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
uavcan::Subscriber<ardupilot::gnss::RelPosHeading, RelPosHeadingCb> *gnss_relposheading;
gnss_relposheading = new uavcan::Subscriber<ardupilot::gnss::RelPosHeading, RelPosHeadingCb>(*node);
if (gnss_relposheading == nullptr) {
AP_BoardConfig::allocation_error("gnss_relposheading");
}
const int gnss_relposheading_start_res = gnss_relposheading->start(RelPosHeadingCb(ap_uavcan, &handle_relposheading_msg_trampoline));
if (gnss_relposheading_start_res < 0) {
AP_HAL::panic("UAVCAN GNSS subscriber start problem\n\r");
return;
}
#endif
}